Collaboration

Excited to collaborate!

I have a variety of topics and ideas that I am interested in and would love to collaborate on! As mentioned earlier, I am broadly interested in search algorithms, combining them with machine learning/reinforcement learning, and motion planning.

Some example medium-levels ideas I would be happy to discuss:

  • MAPF or multi-agent motion planning for non-gridworld systems including:
    • Continuous space planning
    • Incorporating kinematics and dynamics constraints
    • Heterogenuous multi-agent team compositions
  • Real-Time or windowed planning algorithms for multi-agent systems with gaurantees
  • Decentralized MAPF and multi-agent motion planning algorithms
  • Meta-reasoning in heuristic search algorithms
  • Search algorithms for LLMs
  • Single-agent heuristic search algorithms with/for RL
  • Foundation models for MAPF
  • Cooperative MAPF

Some specific project ideas where I have concrete algorithms which someone could work on (e.g. graduate student or motivated undegraduate):

  • Extensions to PIBT
  • Extensions to Windowed MAPF with Completeness Gaurantees:
    • Continuous space or non-gridworld systems with local collision avoidance (e.g. swarms with local MPC or RL controllers)
    • Lifelong MAPF (as opposed to single-shot MAPF)
  • Extensions to Learning Local Heuristics (e.g., for more complex domains like manipulation)
  • MAPF with limited cooperative actions
  • Single-agent heuristic search algorithms with/for RL